ABB AO810V2 3BSE038415R1 processor module

MCT instruction followed by MCS instruction. Only execute an MCT instruction when the axis involved in the transformation is not moving. You can check the axis status via the ControlledByTransformstatus bit of the source and target axes. 

Your controller might get a random major fault if you program it as follows: 

1. The MCT instruction is active and the axis moves.

 2. The MCS instruction of StopType Coordinated Transform is executed. 

3. An MCT instruction is activated with a different orientation or translation.

 4. The axis moves.

Position overshoot on velocity-limited moves.

 For moves with very special combinations of fast velocities, slow decelerations and distances that produced velocity-limited moves, it was possible to sometimes overshoot a programmed end point and then return to it.

If an MGS instruction is issued while MAS-All instructions are being executed, the MAS instruction in-process bit would remain latched true. All axis motion would stop, but the MAS instructions would remain in process.

Configuration of an MAS instruction for a single axis

If your program has an active MAS instruction with a StopType of All (0), Jog (1), Move (2), Gear (3), Home (4), Tune (5), Test (6), Position Cam (7), Time Cam (8), or Master Offset Move (9) and it is followed by an MAS instruction with a StopType of All (0), then the motion of the axis is not stopped. The process complete bit (.PC) for the MAS (All) instruction may appear to be set; however, the instruction is ignored by the system. To stop motion, you must configure an additional MAS instruction with a StopType of Move (2) that has the same instruction operands and execution time as the MAS instruction with the StopType of All (0). For more information, see the Advisory Information for Configuring Motion Axis Stop Instructions for an Axis with CompactLogix, ControlLogix, and SoftLogix Controllers technical note in the Technical Support Knowledgebase.

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